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Col Richard Kemp, a former Army officer and leading member of the Veterans for Britain pressure group, said: "This shows the Government has lost control of this issue.

"The agenda is being driven by pro-Brussels officials in the Ministry of Defence, Foreign Office and Cabinet Office who resent us the idea we are leaving the EU and want as close a military relationship as possible.

"These proposals will undermine Nato. It is an attempt to undermine Brexit."

Proposals for continuing military co-operation after Brexit were outlined in the latest of a series of papers setting out the Government's negotiating position for the talks in Brussels.

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The offer was designed to improve the Government's hand in negotiations

It promised a "deep security partnership with the EU after Brexit" in the face of growing global threats.

Britain will offer to contribute troops, warships, aircraft and other military assets on EU operations after Brexit, the paper said.

This shows the Government has lost control of this issue

Col Richard Kemp

Ministers also want to continue cooperation on international sanctions against rogue states and to agree joint foreign policy positions with the EU, the document said.

British personnel were expected to continue to work with EU units to tackle illegal migration, terrorism, cyber attacks and threats from hostile foreign powers.

Ahead of the publication of the document, EU Exit Secretary David Davis said: “After we leave the European Union we will continue to face shared threats to our security, our shared values and our way of life.

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Boris Johnson said the UK's commitment to European security is undiminished

"It’s in our mutual interest to work closely with the EU and its member states to challenge terrorism and extremism, illegal migration, cyber-crime, and conventional state-based military aggression.

“Today’s paper highlights Britain’s world class diplomacy and defence capabilities, our leading contribution to international development, and our desire to continue to use these as part of a deep and special partnership with the EU.”

Foreign Secretary Boris Johnson said: “As we leave the EU, the UK’s commitment to European security is undiminished.

"We will pursue a global foreign policy, and continue to work in partnership with our neighbours to promote peace, democracy and security in our continent and across the world.

“In recent years, the European Union has helped achieve crucial foreign policy goals – from bringing Iran to the negotiating table, to uniting in response to Russian aggression in Ukraine. We want this EU role to continue after we leave.

Pro-EU People's March in pictures

Mon, September 11, 2017

Thousands of anti-Brexit campaigners take part in the People’s March for Europe pro-EU rally.

Model Joanna Krupa poses during a protest against animals in circuses as an anti-Brexit protester walks past waving European Union flags in front of the Houses of Parliament in London

“This is why, in addition to stronger relations with EU member states, we also envisage a strong UK-EU partnership on foreign and defence policy following our departure. This will allow us to continue our work in tackling the shared challenges we face worldwide.”

And Defence Secretary Sir Michael Fallon said:

“At a time of increased threats and international instability the UK remains unwavering in its commitment to uphold European security. With the largest defence budget in Europe, the largest Navy British troops and planes deployed across land, air and sea in Europe, our role in the continent’s defence has never been more vital.

“As we leave the EU, the UK and our European allies will ensure a close partnership that meets these shared challenges head-on.”

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EU Exit Secretary David Davis said that even after Brexit we will still face shared threats

The paper is understood to highlight the UK's previous military cooperation with the EU on tackling piracy off the Horn of Africa and joint defence projects including the Eurofighter Typhoon aircraft.

Lib Dem Brexit spokesman Tom Brake MP said: "It is interesting how the government now says the EU is central to Britain’s security and diplomatic needs. What a contrast to the EU referendum campaign when leading figures in the current government claimed the EU played no role in our security.

“This U-turn begs the question why ministers such as Boris Johnson, through their insulting and rash statements, have chosen to destabilise the very relationships that those arrangements are based on.

"Despite all their warm words, this government’s determination to push through an extreme Brexit threatens to leave Britain isolated and alone on the word stage.

“In particular, the EU27 has insisted that to share security information we would need to accept the jurisdiction of the European Court of Justice, and Theresa May has expressly ruled that out. It is time Theresa May decided whether propping up her leadership by pandering to her right wing is really more important than our safety and security.”